| With the development of surgery in the direction of minimally invasiveness,precision and visualization,robot assisted surgery has been accepted by patients and applied in clinical practice.The existing surgical robot systems are usually designed for some specific operations.Hospitals need to purchase several different types of robots to assist different types of operations,which increase the cost of equipment purchase and maintenance.In order to improve the versatility of surgical robots,a universal minimally invasive surgical robot system with 8 degrees of freedom has been designed after analyzing the workspace and operation requirements of different minimally invasive surgery.Firstly,the paper discusses the degrees of freedom of robot based on analyzing the work requirement of minimally invasive surgery,then the whole robot configuration scheme is proposed,which includes a global positioning unit and a local positioning unit,and each part of the structure of robot is introduced in great detail.Secondly,the kinematics model of robot is established based on D-H parameter method,then the workspaces of robot is solved using iterative method,and the Jacobi matrix of robot is established using differential transform method.Thirdly,a multi-objective optimization function including kinematics and the dynamics indexes is constructed and solved with genetic algorithm,and structure parameters with high flexibility is obtained.Finally,a clinical environment is constructed based on medical image processing,and the robot trajectory planning is designed using A* algorithm separately.The novelty of this project includes: a universal minimally invasive surgical robot is designed based on comprehensive analysis of different surgery requirements,and the structure parameters with high flexibility is obtained with multi-objective optimization method;the robot trajectory planning is designed using A* algorithm,and the interpolation method is used to improve the stability of robot movement. |
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